基于椭球GPS/DR导航模型的鲁棒滤波研究

为了获得更精确的运动物体的数学模型,本文建立了GPS/DR组合导航系统的椭球模型,并将含参模型转化为不确定性参数滤波模型,并利用鲁棒卡尔曼滤波算法和鲁棒H∞滤波算法进行了仿真,从滤波的稳健性和效率两个方面进行了分析,得出在椭球GPS/DR导航模型下,鲁棒H∞滤波算法比鲁棒卡尔曼滤波更符合工程实际应用的滤波方法。

Robust filter research on GPS/DR integrated navigation based on elliptical uncertainty model

In order to gain more accurate mathematic model,this article constructs an elliptical model of GPS/DR integrated navigation.It transforms the parameter model into uncertainty parameter model,and a simulation is performed with robust Kalman filtering and robust H∞ algorithm.By analyzing the robustness and efficiency,it concludes that robust H∞ algorithm is more suitable for practical engineering under the navigation of elliptical model of GPS/DR.